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= +
=
1
) ........(1 ..........
)
2
0
2
n
2
(s
2
)
0
(n
1
) (
n
s
s
c
G
e
) 2 .( ..........
! 7
6
) ' (
! 5
4
) ' (
! 3
2
) ' (
1
) ' (
) ' sin(
+ + =
s s s
s
s t t t
t
t
This polynomial has roots at s = +/- 1, +/- 2, and so on.
So
) 3 .( ).........
2
3
2
'
1 )(
2
2
2
'
1 )(
2
1
2
'
1 (
) ' (
) ' sin( s s s
s
s
=
t
t
Expanding right-hand side we get
) 4 ...]...(
2
3
2
'
2
2
2
'
2
1
2
'
...... ' ...)
2
3
1
2
2
1
2
2
1
2
1
1
( ' ...)
2
2
1
2
1
1
( 1 [
'
) ' sin(
4 2
+ + + + + =
s s s
s s
s
s
t
t
Comparing coefficients of equn 2 & 4 we get following.
6
2
. ..........
2
4
1
2
3
1
2
2
1
1
t
= + + + + and similarly
120
2
........
2
5
1
.
2
4
1
2
4
1
2
3
1
2
3
1
2
2
1 t
= + +
In any given function we may replace a variable with another
variable with out changing its value.
Let be s = j*s in equn 4 then we get
) 5 .( ).........
2
3
2
1 )(
2
2
2
1 )(
2
1
2
1 (
) (
) sin( s s s
s j
s j
+ + + =
t
t
) 6 ........(
1
)
2
2
1 (
) sin(
[
=
+ =
n
n
s
s j
s j
t
t
) 7 ........(
1
)
2
2
1 (
sinh
[
=
+ =
n
n
s
s
s
t
t
) 8 .........(
1
) 1 (
1
sinh
2
2
[
=
+
=
n
n
s
s
s
t
t
) 9 .........(
) 1 (
1 1
sinh
1
2
2
[
+
=
= n
n
s
s
s t
t
) 10 .........(
) 1 (
1 1
sinh
2
1
2
2
0
[
+
=
= n
T
n
s
s
s t
e
) 11 .........(
) 1 (
1 1
sinh
2
1
2
2
0
[
+
=
= n
T
n
s
s
s
e
t
Again substitute S -> S/
0
then
Then
) 12 )........( ( .
) 1 (
1 1
) sinh(
2
1
2
0
2
2
0
s
c
G
n
s
s
s
n
T
=
[
+
=
=
e
e
t
But
So
) 13 )........( (
) sinh(
2
2
s
c
G
sT
T
=
To calculate the transfer function of the above equn first we have to
substitute s = j and T = 2/
0
and then we get
) (
0
0
2
1
e
te
e
et
j
e
j
Te
and
) sin(
)
0
2
1 (
0
0
e
te
e
te
e
et
T
j
e
j
Te
=
So the minimal system for G
c
(s) is given as below.
This can be derived by using following block.
) (
0
2
1
e
te j
e
0
2
e
te j
e
1,0
or
V
error
(s)
= Gc(s)
Periodic Waveform Generator
V
error
(s)
V
error
(s)
= Gc(s)
T
=
G
c(
s)
P
la
n
t
T
=
G
c(
s)
P
la
n
t
2T
=
Gc
(s)
Pl
an
t
3T
=
Gc
(s)
Pl
an
t
0
=
Gc
(s)
Pl
an
t
Periodic Waveform Generator
z
-N
Q(z
-1
)
Z
K
+
+
error
Repetitive Control Block
+
-
+10V
Repetitive
Control
+
+
error
e
-sT
Repetitive Control Block
+
+
e
-sT
+
-
+10V
+
+
e
-sT
+
-
+10V +5V
5V
+5V
0 V
+
+
e
-sT
+
-
+10V +7.5V
7.5V
+2.5V
+5V
+
+
e
-sT
+
-
+10V +8.75V
8.75V
+1.25V
+7.5V